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<div class="title">correspondence_rejection_features.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">   45</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature</a> (</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr &amp;source_feature, <span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>.count (key) == 0)</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key].reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">features_map_</a>[key])-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">setSourceFeature</a> (source_feature);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;}</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">   55</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature</a> (<span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keywordflow">if</span> (features_map_.count (key) == 0)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keywordflow">return</span> (boost::shared_ptr&lt;<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;const FeatureT&gt;</a> &gt; ());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keywordflow">return</span> (boost::static_pointer_cast&lt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a> &gt; (features_map_[key])-&gt;getSourceFeature ());</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">   65</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature</a> (</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr &amp;target_feature, <span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;{</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">if</span> (features_map_.count (key) == 0)</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    features_map_[key].reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (features_map_[key])-&gt;setTargetFeature (target_feature);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;}</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keyword">typename</span> pcl::PointCloud&lt;FeatureT&gt;::ConstPtr </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">   75</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature</a> (<span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;{</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  <span class="keywordflow">if</span> (features_map_.count (key) == 0)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordflow">return</span> (boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;FeatureT&gt;</a> &gt; ());</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">return</span> (boost::static_pointer_cast&lt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a> &gt; (features_map_[key])-&gt;getTargetFeature ());</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;}</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">   85</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold</a> (</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">double</span> thresh, <span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;{</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordflow">if</span> (features_map_.count (key) == 0)</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    features_map_[key].reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (features_map_[key])-&gt;setDistanceThreshold (thresh);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> FeatureT&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">   97</a></span>&#160;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation</a> (</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keyword">const</span> <span class="keyword">typename</span> pcl::PointRepresentation&lt;FeatureT&gt;::ConstPtr &amp;fr,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">const</span> std::string &amp;key)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;{</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordflow">if</span> (features_map_.count (key) == 0)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    features_map_[key].reset (<span class="keyword">new</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">FeatureContainer&lt;FeatureT&gt;</a>);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  boost::static_pointer_cast&lt;FeatureContainer&lt;FeatureT&gt; &gt; (features_map_[key])-&gt;setFeatureRepresentation (fr);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_FEATURES_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features_1_1_feature_container.html">pcl::registration::CorrespondenceRejectorFeatures::FeatureContainer</a></div><div class="ttdoc">An inner class containing pointers to the source and target feature clouds and the parameters needed ...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a2f25697b8b0305046a0720bf25b7b3a0"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a2f25697b8b0305046a0720bf25b7b3a0">pcl::registration::CorrespondenceRejectorFeatures::setFeatureRepresentation</a></div><div class="ttdeci">void setFeatureRepresentation(const typename pcl::PointRepresentation&lt; FeatureT &gt;::ConstPtr &amp;fr, const std::string &amp;key)</div><div class="ttdoc">Provide a boost shared pointer to a PointRepresentation to be used when comparing features</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:97</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a45f34ad878a27bd9e95f8937fe1dea6c"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a45f34ad878a27bd9e95f8937fe1dea6c">pcl::registration::CorrespondenceRejectorFeatures::getSourceFeature</a></div><div class="ttdeci">pcl::PointCloud&lt; FeatureT &gt;::ConstPtr getSourceFeature(const std::string &amp;key)</div><div class="ttdoc">Get a pointer to the source cloud's feature descriptors, specified by the given key</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:55</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a55588e97f86b8fc175db8e06680c747b"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a55588e97f86b8fc175db8e06680c747b">pcl::registration::CorrespondenceRejectorFeatures::setTargetFeature</a></div><div class="ttdeci">void setTargetFeature(const typename pcl::PointCloud&lt; FeatureT &gt;::ConstPtr &amp;target_feature, const std::string &amp;key)</div><div class="ttdoc">Provide a pointer to a cloud of feature descriptors associated with the target point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a6f76384a2a270cbf2822287dc91fdc32"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a6f76384a2a270cbf2822287dc91fdc32">pcl::registration::CorrespondenceRejectorFeatures::features_map_</a></div><div class="ttdeci">FeaturesMap features_map_</div><div class="ttdoc">An STL map containing features to use when performing the correspondence search.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_a77de8e5bf2c5b2b914fba7db0694b3c2"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#a77de8e5bf2c5b2b914fba7db0694b3c2">pcl::registration::CorrespondenceRejectorFeatures::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(double thresh, const std::string &amp;key)</div><div class="ttdoc">Set a hard distance threshold in the feature FeatureT space, between source and target features....</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:85</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_aabbb12af16267894e64560b6e1247530"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#aabbb12af16267894e64560b6e1247530">pcl::registration::CorrespondenceRejectorFeatures::setSourceFeature</a></div><div class="ttdeci">void setSourceFeature(const typename pcl::PointCloud&lt; FeatureT &gt;::ConstPtr &amp;source_feature, const std::string &amp;key)</div><div class="ttdoc">Provide a pointer to a cloud of feature descriptors associated with the source point cloud</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_features_html_ae2c2a6e70f55d27d308cadee3363832f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_features.html#ae2c2a6e70f55d27d308cadee3363832f">pcl::registration::CorrespondenceRejectorFeatures::getTargetFeature</a></div><div class="ttdeci">pcl::PointCloud&lt; FeatureT &gt;::ConstPtr getTargetFeature(const std::string &amp;key)</div><div class="ttdoc">Get a pointer to the source cloud's feature descriptors, specified by the given key</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_features.hpp:75</div></div>
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